基于散粒体阻塞机理的变刚度柔性机械臂研究

Research on flexible manipulator with variable stiffness based on particle blocking mechanism

为提高柔性机械臂的刚度和控制精度,基于散粒体阻塞机理对柔性机械臂的变刚度控制进行了研究。在柔性硅胶管内部填充塑料颗粒以构成变刚度杆,并通过理论分析和实验研究构建了其刚度模型。沿圆周方向对称并联布置3根变刚度杆以构成变刚度柔性机械臂,并基于搭建的实验平台对柔性机械臂进行变刚度控制和定位精度分析。结果表明:散粒体阻塞不仅可以实现柔性机械臂的刚度调节,还可以提高其控制精度;柔性机械臂的剪切刚度与变刚度杆的真空度成正比,柔性机械臂的定位精度与变刚度杆的剪切刚度也存在一定的正比关系。研究结果对促进柔性机械臂在工业机器人、服务机器人领域的广泛应用和提高人-机交互、人-机协同安全性有重要意义。

In order to improve the stiffness and control accuracy of flexible manipulators,the variable stiffness control for flexible manipulators was studied based on the particle blocking mechanism.A variable stiffness rod was formed by filling plastic particles in the flexibility silicone tube,and its stiffness model was built through the theoretical analysis and experimental research.Three variable stiffness rods were symmetrically arranged in parallel to form a variable stiffness flexible manipulator.Based on the established experimental platform,the variable stiffness control and positioning accuracy analysis for the flexible manipulator were carried out.The results showed that particle blocking could not only achieve the stiffness adjustment of the flexible manipulator,but also improve its control accuracy;the shear stiffness of the flexible manipulator was proportional to the vacuum degree of the variable stiffness rod,and the positioning accuracy of the flexible manipulator was also proportional to the shear stiffness of the variable stiffness rod.The research results are of great significance in promoting the wide application of flexible manipulators in the fields of industrial robots and service robots,and improving the safety of human-machine interaction and human-machine collaboration.